Abstract: The present disclosure discloses a real-time ranging method of a common-virtual-axis three-dimensional (3D) camera based on YOLOv3-tiny, including: acquiring, by the common-virtual-axis 3D camera, a far image and a near image on a same optical axis; processing image data of the near image and image data of the far image by using a YOLOv3-tiny target-recognition neural-network acceleration algorithm; determining, according to the processed image data, two target recognition frames corresponding to a preset recognized object on the far image and the near image; performing curvature scale space (CSS) corner recognition on image data in the target recognition frames; obtaining an average value of distances from far and near corners to a center point of the image data in each of the target recognition frames according to recognized corner coordinates; and substituting the obtained average value into an optical relation of the common-virtual-axis 3D camera, to obtain distance information.

Abstract: The present disclosure discloses a real-time ranging method of a common-virtual-axis three-dimensional (3D) camera based on YOLOv3-tiny, including: acquiring, by the common-virtual-axis 3D camera, a far image and a near image on a same optical axis; processing image data of the near image and image data of the far image by using a YOLOv3-tiny target-recognition neural-network acceleration algorithm; determining, according to the processed image data, two target recognition frames corresponding to a preset recognized object on the far image and the near image; performing curvature scale space (CSS) corner recognition on image data in the target recognition frames; obtaining an average value of distances from far and near corners to a center point of the image data in each of the target recognition frames according to recognized corner coordinates; and substituting the obtained average value into an optical relation of the common-virtual-axis 3D camera, to obtain distance information.